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Merge pull request #11476 from fahadshihab/patch-1

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J Blackman 2022-04-22 17:51:37 +10:00 • committed by GitHub
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src/main/flight/imu.c
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@ -77,7 +77,7 @@ static bool imuUpdated = false;
// the limit (in degrees/second) beyond which we stop integrating
// omega_I. At larger spin rates the DCM PI controller can get 'dizzy'
// which results in false gyro drift. See
// http://gentlenav.googlecode.com/files/fastRotations.pdf
// https://drive.google.com/file/d/0ByvTkVQo3tqXQUVCVUNyZEgtRGs/view?usp=sharing&resourcekey=0-Mo4254cxdWWx2Y4mGN78Zw
#define SPIN_RATE_LIMIT 20